JPS63255684A - Object detector for vehicle - Google Patents

Abstract

PURPOSE:To ensure the prevention of touch of an object with a vehicle, by providing a means to discriminate the case when the object is located at a dead angle of a detection sensor from the case when the object becomes distant from a detection area. CONSTITUTION:A signal of an ultrasonic wave or the like is emitted at a predetermined interval from a detection sensor 1 for a detecting operation to detect whether an object 2 is present or not in a predetermined detection area X. When the object 2 is present in the area X, a distance calculating means 3 calculates a distance between a vehicle and the object 2 on the basis of an output signal from the sensor 1. The result of this calculation is taken in a comparing means 4 and compared therein with a result of calculation obtained at a last detecting operation, and a varied value of the distance between the object 2 and the vehicle 2 is outputted from the means 4. Based on the increase or decrease in this output value, it is discriminated in a discriminating means 5 whether the object 2 approaches the vehicle or not. Then, the means 5 generates a discrimination output for stopping the vehicle or informing an alarm when the object 2 once enters the area X and then goes out of the area X away from the approaching state, i.e. when it determines that the object 2 comes into a dead angle of the sensor 1.

Description

[Detailed Description of the Invention] [Technical Field J] The present invention relates to an object detection device for a vehicle that prevents a collision or contact between the vehicle and an object such as a curb, a person, a stake, or a hanging object. .

[Background Art 1] A vehicle object detection device that is attached to a vehicle and has means for determining the presence of an object at a location when an object is detected and means for determining the distance to the existing object is a If the vehicle gradually approaches, the driver is notified of the helmet using a light display or sound, which is an extremely effective means of preventing collisions or contact between the vehicle and the object.

However, as the object detection device for a vehicle, as shown in FIG. 9, a method disclosed in Japanese Patent Application Laid-Open No. 172083/1983 is known in which a detection sensor 1 is provided at the rear of a vehicle Y to calculate a detection distance. However, with this method, there is a blind spot where object 2 is not detected, so vehicle Y moves backward in the direction indicated by the arrow in the same figure to relatively detect object 2 (in the figure, a green stone installed on the road). ), when object 2 moves from position (a) to position (b) and enters detection area When it reaches the position (c), it goes out of the detection area X and enters the blind spot Z of the detection sensor 1, and the alarm output is turned off.

If the driver relies on the above warning output, object 2 approaches vehicle Y once, but then moves out of detection area Therefore, there is a risk that the driver may cause the vehicle Y to move backward further and eventually collide with the object 2. In this way, in the conventional vehicle object detection device, the object 2 enters the blind spot Z of the detection sensor 1. However, since there is no way to know this, there is a problem in that it is impossible to reliably prevent a collision or contact between the object 2 and the vehicle Y.

In addition, vehicle Y continues to drive straight and backwards regardless of the detection display or warning.
Even if the program is continued or stopped, this problem remains.

[Objective of the Invention] =31 The present invention was made in view of the above problems, and its purpose is to detect cases where an object enters the blind spot of the detection sensor and cases where the object moves away from the detection area. Object detection for vehicles that can reliably prevent collisions or contact between objects and vehicles by providing a new means of distinguishing between objects and issuing alarms, or directly stopping the vehicle from moving forward or backward. We are in the process of providing equipment.

[Disclosure of the Invention 1] Fig. 1 shows the basic configuration of a vehicle object detection device of the present invention. a distance calculation means 3 that calculates the distance to the object 2 by using the distance calculation means 3, a comparison means 4 that compares the previous calculation result and the subsequent calculation result of the distance calculation means 3, and an output value of the comparison means 4 decreases. The detection sensor 1 performs a detection operation by emitting signals such as ultrasonic waves, light, electromagnetic waves, etc. at predetermined intervals, and detects the detection area X in a predetermined detection area. It is detected whether the object 2 is present or not, and when the object 2 is within the detection area X, the distance calculation means 3 calculates the distance between the vehicle and the object 2 based on the output signal of the detection sensor 1.

This calculation result is taken into the comparison means 4 and compared with the calculation result of the previous detection operation, and the comparison means 4 outputs a change value in the distance between the object 2 and the vehicle. Based on the increase/decrease in this output value, f1 separate means 5 determines whether or not the object 2 is approaching the vehicle. When the object 2 goes outside the detection area be.

When the notification means 6 is used here, when the distance calculation means 3 is calculating the distance to the object 2 within the detection area X based on the detection by the detection sensor 1, the object 2 exists within the detection area X. An alarm is issued when the discriminating means 5 determines that the object 2 once enters the detection area X and then exits the detection area after approaching it, that is, when it determines that the object 2 has entered the blind spot of the detection sensor 1. The alarm notification by the means 6 is continued and the notification state is made different from that of the subordinate j1t to call the driver's attention. Further, when the object 2 once enters the detection area X and then moves out of the detection area X as the distance between the vehicle and the object 2 increases, the alarm notification is stopped.

When resetting the alarm notification of the notification means 6 in conjunction with vehicle operations such as activation of the parking brake of the vehicle or forward engagement of the transmission gear, the external control input means 7 is used. Control input means 7
The alarm notification is automatically reset by the output.

The present invention will be further described in detail below based on examples.

Figures 2 and 3 show an embodiment of the present invention, in which the ultrasonic sensor head 9 of the ultrasonic detection sensor 1 is attached to each of the four corners of the bumper 8 after a turn of the vehicle Y. . Each detection sensor 1 includes an ultrasonic sensor head section 0 consisting of a transmitter and a transfer device, and a transmitter for driving the transmitter of the ultrasonic sensor head section 9 to transmit ultrasonic pulses. After transmitting the wave pulse drive circuit 10 and the wave pulse P that is received by the transfer device and converted into an electric signal within a predetermined detection distance range, that is, as shown in FIG. The receiving circuit 11 has a receiving date G that allows only a receiving signal P received within a time period corresponding to a predetermined detection area X to pass through. Each transmission pulse drive circuit 10 is controlled by an arithmetic control circuit section 12 consisting of a microprocessor, and the transfer signal P2 that has passed through the wave receiving circuit 11 is subjected to signal processing by the arithmetic control circuit section 12.

Here, the arithmetic control circuit unit 12 has the functions of the distance calculation means 3, the comparison means 4, the discrimination means 5, and the external control input means 7 in the circuit of FIG. 1, and the details are shown in the circuit block diagram of FIG. It is expressed in blocks based on its operational functions. In other words, the arithmetic control circuit section 12 includes each transmission pulse drive circuit 1.
a transmitting pulse control section 12a that controls 0, and a receiving circuit 11
a reception waveform storage section 121J that captures the transfer signal P2 passed through the transfer signal P2 and stores the received waveform pattern of the transfer signal P2; It constitutes an arithmetic unit 1.2c that determines the presence or absence of an object 2 in the detection area X and calculates the distance to the object 2 from the waveform pattern, and the comparison means 4 and determination means 5 in the circuit shown in FIG. , calculation unit 12c
The distance to the object 2 is calculated by comparing the current distance to the object 2 calculated in 1 with the distance to the object 2 calculated based on the previous delivery signal P2 based on the calculated value from the calculation unit 12c. a detection distance comparison unit 12e that determines whether the object 2 is gradually approaching the vehicle Y or moving away from the vehicle Y based on changes in the information, and information from the calculation unit 12c and a detection distance comparison unit 1.2c an alarm output control section 12d that generates a detection output based on
and an external control input section 12f corresponding to the above. The detection output from the alarm output control section 12d of the arithmetic control circuit section 12 is input to the alarm output drive circuit 13, and the alarm output drive circuit 13 controls the alarm 14 consisting of an indicator lamp and a buzzer based on this detection output. It is. These alarm output drive circuit 13 and alarm 14 are the alarm P in the tiS1 diagram.
'i 6.

Next, the operation of the circuit in Figure 3 when moving vehicle Y backwards is shown in Figure 5.
This will be explained based on the 70-chart in the figure and FIGS. 6 and 7.

First, when the device is activated, the transmission pulse drive circuit 10 of each detection sensor 1 operates under the control of the transmission pulse control section 12a of the arithmetic control circuit section 12, and the ultrasonic pulse drive circuit 10 of each detection sensor 1 is activated. is transmitted.

Here, if the vehicle Y and the object 2 are separated by y1 distance, the object 2 force C does not exist within the detection area X as shown in Fig. 6(a), and therefore the (like receiving wave)
Since the transfer signal P2 does not exist in G, the resultant received signal P is not input to the arithmetic control circuit section 12, and the received waveform storage section 12
The waveform pattern is not written in b. Therefore, the calculation unit 12c
Then, it is determined that the object 2 does not exist within the detection area X.

In addition, in the detection distance comparison section 12e, rKf\part 12
Since the distance calculation result from c cannot be obtained, it is not determined that the object 2 is approaching. Therefore, the alarm output control section 12d does not output a detection signal based on the information from the calculation section 12c and the determination result from the detection distance comparison section 12e. In other words, the alarm 14 is not activated, and the driver knows that it is still possible to back up.

Now, if vehicle Y continues to move backward further, object 2 will enter detection area X as shown in Figure 6 (1).
As shown in FIG. 7(b), the received signal P2 is the received signal P2.
pass through. Therefore, the transfer signal P is
, and the waveform pattern is stored in the receiver 3 waveform storage section 12b. Based on this waveform pattern, the calculation unit 12c calculates the distance to the object 2 from the time delay between wave transmission and delivery. This calculation result is compared with the distance calculation result obtained by transmitting waves every other time by the detection distance comparison unit 12e, and it is determined whether the object 2 is relatively close to or away from the vehicle Y. Separated. On the other hand, the calculation unit 12c determines whether or not there is an object 2 in the detection area X based on the input of the received wave signal P2. The calculation unit 12c determines that the object 2 exists within X, and based on the determination by the calculation unit 12c, the alarm output control unit 12d outputs a detection output as an alarm according to the distance between the object 2 and the vehicle Y. The signal is output to the drive circuit 13, and drives the alarm 14 consisting of a display lamp and a buzzer.In this embodiment, for example, the alarm output control unit 12cl outputs a signal based on a change in the detection output according to the distance between the object 2 and the vehicle Y. The alarm output drive circuit 13 notifies the driver that the object 2 is approaching by changing the blinking interval of the indicator lamp of the alarm 14 and the intermittent ringing interval of the buzzer.

Now, when vehicle Y continues to retreat further... As shown in FIG. 186 (C), the object 2 will eventually enter the blind spot Z and will be removed from the detection area X. Therefore, Fig. 7(c)
As shown in , the handover (No. This information is input to the alarm output control unit 12d, but since the comparison and discrimination result of the detection distance comparison unit 12e until then was that the object 2 and the vehicle Y are approaching, the alarm output control unit 12.cl generates a detection output indicating a dangerous state. When this detection output is output, the alarm output drive circuit 13 drives the alarm 14 continuously, for example, and changes the alarm state to a different alarm state from the previous alarm state. It is possible to set this to make the driver aware that it is dangerous and to stop immediately.

At this point, the driver, for example, moves the transmission gear forward.
A control signal indicating that a mode other than reverse such as parking or neutral has been selected, or that the parking brake has been applied is sent from the vehicle operation state detection circuit 15 to the arithmetic control circuit section 12.
When entering the external control input section 12f, the external control input section 12
f determines that the vehicle Y will not move backward as far as possible and outputs an alarm stop signal to the alarm output control section 12d. Alarm output control section 12
d is the alarm output drive circuit 1 when this alarm stop signal is input.
3, and reset the alarm by the alarm 15.゛By the way, when vehicle Y is cornering as shown in Figure 8, object 2 once enters detection area X, but then vehicle Y
As the object 2 bends, the object 2 moves away from the vehicle Y. Therefore, while the object 2 is present within the detection area , as shown in FIG. 7(d), the received signal P
2 is outside G (wave reception day), the comparison and discrimination result of the detection distance comparison unit 2e up to that point is not close, so the alarm output control unit 12d stops the detection output based on this discrimination result, and the alarm output control unit 12d Reset the alarm. Similarly, once object 2 approaches vehicle Y and enters detection area
Reset the alarm caused by 4.

Although the above embodiment uses the arithmetic control circuit unit 12 made up of a microprocessor, the present invention is not particularly limited to a microprocessor. Furthermore, although the detection output of the alarm output control section 12d of the arithmetic control circuit section 12 is output to the alarm output drive circuit 13 to control the alarm 14, it is also possible to directly control the forward movement, backward movement, stop, etc. of the vehicle Y. It goes without saying that this may be done, and is not limited to the embodiment. In addition, in the embodiment described in -1-, the arithmetic control circuit unit 12 is provided with an external control input unit 12f, so that the alarm by the alarm 14 is reset in conjunction with the operation of the transmission gear or parking brake of the vehicle Y. However, this configuration may be provided as necessary, and is not necessary if the driver resets it by himself.

[Effects of the Invention 1] The present invention comprises a detection sensor for detecting the presence or absence of an object, a distance calculation means for obtaining an output signal of the detection sensor and calculating a distance to the object within a predetermined detection area, and a distance calculation means for calculating the distance to the object within a predetermined detection area. It has a comparing means for comparing a calculated value with a subsequent calculated value of this calculated value, and a determining means for determining whether the distance between the vehicle and the object is decreasing or not based on the output value of the comparing means. When the detection sensor no longer detects the object after the relative distance between the object and the object has decreased, it can be determined that the object has entered the detection sensor's blind spot, and the vehicle can be stopped from moving forward or backward based on this determination result. Alternatively, it is possible to issue a warning to urge the vehicle to stop, and it is also possible to detect objects that have entered the blind spot of the detection sensor, thereby achieving the effect of reliably preventing a collision or contact between the vehicle and the object.

[Brief explanation of the drawing]

Figure 1 is a circuit configuration diagram that is the basis of the present invention, Figure 2 is a layout configuration diagram of an ultrasonic sensor head section of an embodiment of the present invention, and Figure 3
The figure is a circuit configuration diagram of the same as above, FIG. 4 is a waveform diagram for explaining the operation of the receiving circuit used in the above, FIG. 5 is a 70-chart for explaining the operation of the same as above, and FIGS. FIG. 9 is an explanatory diagram of the operation of the conventional example. DESCRIPTION OF SYMBOLS 1... Detection sensor, 2... Object, 3... Distance calculation means, 4... Comparison means, 5... Discrimination means, 6...
Notification means, 7... External control input means, X... Detection area, Y... Vehicle. 1N open naG3-255f; 84 (8) Fig. 8 Fig. 9

Claims (6)

[Claims] (1) A detection sensor that detects the presence or absence of an object, a distance calculation means that obtains the output signal of this detection sensor and calculates the distance to the object within a predetermined detection area, and the calculated value of the distance calculation means and this calculation. A vehicle object characterized by having a comparison means for comparing the value with a subsequent calculated value, and a determination means for determining whether the distance between the vehicle and the object is decreasing or not based on the output value of the comparison means. Detection device. (2) The object detection device for a vehicle according to claim 1, wherein an ultrasonic detection sensor is used as the detection sensor. (3) The determining means has a function of determining whether the output value of the comparing means has decreased, is not detected after decreasing, or has increased after decreasing.
Object detection device for a vehicle as described in . (4) The object detection device for a vehicle according to claim 1, further comprising a notification means for obtaining a discrimination output from the discrimination means and notifying the user. (5) Notifying means for obtaining a discrimination output from the discriminating means and notifying the user, and providing different notification forms in a state in which the output value of the comparing means continues to decrease and in a state in which there is no detection after the decrease, respectively. An alarm is issued even when the state of no detection continues after the decrease, and an alarm is issued when an object moves from within the predetermined detection area to outside the detection area and the output value of the comparison means decreases and then increases. The vehicle object detection device according to claim 3, characterized in that the device has a function of stopping notification. (6) A detection sensor is placed at the rear of the vehicle, and an alarm that continues without detection after the output value of the comparison means decreases is notified by vehicle operations such as activation of the parking brake or forward engagement of the transmission gear. Claim 4, characterized in that it has an external control input means that stops the notification when the vehicle is detected to be in a non-reversing state in conjunction with the vehicle.
Object detection device for a vehicle as described in .